Trolley for robots

ABSTRACT

Trolley ( 100 ) for storing, transporting and charging of a plurality of robotic appliances ( 10 ). The trolley comprises a frame ( 110 ) defining an internal volume and supporting a plurality of shelves ( 120 ), a plurality of swivelling wheels ( 130 ) attached to a lower surface of the frame, and a multi-way power connector ( 150 ) that is attached to the trolley. Each of the plurality of shelves is configured to receive and retain one or more robotic appliances and is provided with guides for routing a power cable from a location on the shelf at which a robotic appliance is retained to the multi-way power connector.

TECHNICAL FIELD

The present invention relates to a trolley suitable for the storage,transport and charging of a plurality of robotic appliances.

BACKGROUND

Mobile autonomous or robotic appliances are becoming increasinglycommonplace and have a variety of uses, including pool cleaning, lawnmowing and floor cleaning. By way of example, FIG. 1 illustratesschematically a conventional robotic or autonomous vacuum cleaner 10comprising a cylindrical body or housing 11, a pair of fixed axis wheels12, a swivelling wheel or caster 13, a rotating brush/brushbar/beaterbrush 14, and a pair of side brushes 15.

The fixed axis wheels 12 have a common axis of rotation that is fixedrelative to the housing 11, with each of the fixed axis wheels 12 beingdisposed on either side of the flat lower surface 11 a of the housing11, adjacent to the edge of the flat lower surface 11 a of the housing11, such that their axis of rotation is aligned with a first diameter(A) of the cylindrical housing 11. The swivelling wheel 13 is alsodisposed on the flat lower surface 11 a of the housing 11, adjacent tothe edge of the flat lower surface 11 a of the housing 11, at a locationthat is aligned with a second diameter (B) of the cylindrical/housing,the second diameter (B) being perpendicular to the first diameter (A).

The rotating brushbar 14 is disposed within the housing 11 and partiallyprojecting from the flat lower surface 11 a of the housing 11. Therotating brushbar 14 is typically located so that the axis of rotationof the rotating brushbar 14 is parallel with the axis of rotation of thefixed axis wheels 12. The side brushes 15 are disposed on the flat lowersurface 11 a of the housing 11 and are each typically located adjacentto the edge of the flat lower surface 11 a, on opposite sides of theflat lower surface 11 a of the housing 11.

Robotic appliances that are intended for use in the home have beendesigned to be compact, unobtrusive and intuitive to use, and arecontinually decreasing in price as the technology advances and economiesof scale come into play. In contrast, for robotic appliances that areintended for use in public, commercial and/or industrial environmentsthe trend has been towards large appliances, with the logic being that alarger appliance can cover large areas quicker than a small appliance.However, these large robotic appliances are expensive, are complex tooperate and maintain, and difficult to store.

The present inventors have recognised that robotic appliances that areintended for use in the home could equally be used in public, commercialand/or industrial environments provided that they are used in sufficientenough numbers to complete a given task in a sufficient time. Forexample, where it takes a large commercial robotic appliance to completea task in one hour, four or more household robotic appliances could berequired to complete the same task in the same amount of time. Whilstmultiple small robotic appliances may be required to replicate the workof a single large robotic appliance, the cost of obtaining, running andmaintaining multiple small robotic appliances is typically stillsignificantly less than that for a single large robotic appliance.Furthermore, in view of the costs of obtaining and difficulties instoring large robotic appliances, replacements for large roboticappliances that malfunction are not often readily available. Incontrast, if multiple small robotic appliances are used, tasks can stillbe completed even if one or two fail, and it can be cost effective tohave substitute small robotic appliances readily available as backups.The only disadvantage of using multiple small robotic appliances inplace of a single large robotic appliance is that each one needs to bestored, charged, and handled individually, the burden of which canexceed that of using a single large robotic appliance. The presentinventors have also realised that when placing robotic devices within astorage trolley the proximity sensors thereon may detect the proximityof portions of the trolley or other robotic devices and assume therobotic device is on a floor. This can cause the robotic devices tore-energise or go into an operational mode which causes the wheels to beturned and this either wastes energy or causes the robotic devices todrive themselves off the storage shelf which can result in severe damageto the robotic device itself.

SUMMARY

It is against this background that the invention has been made.Therefore, according to a first aspect there is provided A trolley forstoring, transporting and charging of a plurality of robotic applianceshaving a top surface, a total height H and a lower surface, said lowersurface having one or more wheels and one or more position sensors onsaid lower surface, the trolley comprising a frame having an outer edgeand defining an internal volume and supporting a plurality of shelvespositioned one on top of the other and spaced by an amount G₂. Each ofthe plurality of shelves may be configured to receive and retain one ormore robotic appliances in a preferred position thereon. Each shelf mayinclude one or more regions of optical transparency at positions alignedwith said one or more proximity sensors on said robotic appliance whenplaced therein.

In one arrangement the one or more regions of optical transparencycomprise apertures within said shelf. In an alternative arrangement saidone or more regions of optical transparency comprise regions ofoptically transparent material. Said or more of said one or more shelvesmay comprise optically transparent material.

Preferably, the shelves are arranged to retain one or more roboticappliances at least partially within the internal volume defined by theframe.

Each shelf may comprise a sheet of material mounted to the frame, thesheet of material being provided with hollows that are configured toreceive and retain one or more wheels that project from a lower surfaceof a robotic appliance. The sheet of material may be provided withhollows that are configured to receive and retain other features thatproject from the lower surface of a robotic appliance. Each shelf maycomprise a plurality of sets of hollows, with each set comprisinghollows that are configured to receive and retain one or more wheelsthat project from a lower surface of a robotic appliance. When provided,said hollows may be positioned to receive the wheels of a roboticappliance in only one pre-defined orientation thereof when placed withinsaid trolley.

In one arrangement the one or more shelves are each arranged to retaintwo or more robotic appliances within the internal volume defined by theframe and each shelf comprises two separate sets of hollows, with afirst set being provided on a first half of the sheet and a second setbeing provided on an opposite half of the sheet. Advantageously, each ofthe hollows is provided by any of: a hole formed in the material; and arecess or indent provided in the material or combinations thereof.

Advantageously, the multi-way power connector may be attached to thetrolley within the internal volume defined by the frame. One or more ofthe plurality of shelves may be provided with an aperture within whichthe multi-way power connector can be located.

Advantageously, the frame may comprise a plurality of elongate framesections that are connected together by connectors to form a structurein which a plurality of rectangular sub-frames are mounted one above theother.

Each shelf may comprise a sheet of material that is mounted onto theupper surface one of the rectangular sub-frames formed by the horizontalframe sections.

The guides for routing a power cable may comprise a plurality of cableretaining guides provided on the surface of a shelf.

The cable retaining guides may each comprise any of a clip and a clampthat are configured to receive and retain a cable or cable conduit.

The guides for routing a power cable may comprise a hole or aperturethrough a shelf.

The trolley may include a multi-way power connector and the multi-waypower connector may comprise multiple sockets that are each configuredto receive an electrical plug and a single power cable configured toconnect the multi-way power connector to a power supply.

The trolley may include a multi-way power connector and wherein themulti-way power connector comprises an elongate power connector bodythat is provided with multiple sockets.

The power connector body may be provided with a first set of sockets ona first side of the power connector body and a second set of sockets ona second, opposite side of the power connector body. The multi-way powerconnector may be provided with ten sockets. The multi-way powerconnector may be attached to the trolley such that the longitudinal axisof the multi-way power connector is vertical.

In a particular arrangement the trolley comprises five shelves that caneach receive and retain two separate robotic appliances.

The trolley may further comprise a drawer or storage compartment that isinserted into the frame and supported by one of the one or more furthershelves.

Preferably, distance G2 is greater than the operable distance of theoptical sensor on a robotic device to be placed thereon.

Advantageously, said shelves are spaced apart from each other by anamount G2 which is greater than the total height H1 of the roboticdevice such as to preserve a gap G3 between the bottom of any wheels andthe top of any robotic device placed on a shelf therebelow.

The hollows may be positioned to receive wheels of a robotic devicewhilst also causing a portion of the robotic device to overhang theouter edge of the trolley.

According to another aspect of the present invention there is provided asystem of robotic appliances comprising a trolley as claimed in any ofthe claims and a plurality of robotic appliances disposed and retainedon the shelves of the trolley, each robotic appliance being connected toa power cable that is routed to the multi-way power connector that isattached to the trolley.

BRIEF DESCRIPTION OF THE DRAWINGS

The present invention will now be more particularly described by way ofexample only with reference to the accompanying drawings, in which:

FIGS. 1a and 1b illustrates schematically a conventional robotic vacuumcleaner;

FIGS. 2a and 2b illustrate perspective views of an embodiment of trolleysuitable for the storage, transport and charging of a plurality ofrobotic appliances;

FIGS. 3a and 3b illustrate side and views respectively of the trolleyillustrated in FIGS. 2a and 2 b;

FIGS. 4a and 4b illustrate top and bottom views respectively of thetrolley illustrated in FIGS. 2a and 2 b;

FIG. 5 illustrates an exploded view of the trolley illustrated in FIGS.2a and 2 b;

FIGS. 6a, 6b and 6c illustrate shelves of the trolley illustrated inFIGS. 2a and 2 b;

FIG. 7 illustrates a shelf of the trolley illustrated in FIGS. 2a and 2b;

FIG. 8 illustrates a multi-way power connector suitable for use with thetrolley illustrated in FIGS. 2a and 2 b;

FIG. 9 is a side elevation of a robotic cleaning device; and

FIG. 10 is a side elevation of a number of robotic cleaning devicesstacked on a number of shelves of the present invention.

DETAILED DESCRIPTION

From FIGS. 1a and 1b , it will be appreciated that a robotic device 10such as a floor vacuum usually includes a lower surface 11 a and a topsurface 11 b, one or more wheels 12, 13 projecting from the lowersurface 11 b and a plurality of proximity sensors 16 on the lowersurface 11 a for detecting the proximity of objects there-below andwhich may comprise optical sensors. The device has a height H, as shownin FIG. 9 and may also include one or more further proximity sensors 17for detecting the proximity of objects which are in front of the device10.

FIGS. 2a and 2b illustrate perspective views of an embodiment of trolleysuitable for the storage, transport and charging of a plurality ofrobotic appliances. FIGS. 3a and 3b then illustrate side and viewsrespectively of the trolley 100, whilst FIGS. 4a and 4b illustrate topand bottom views respectively of the trolley 100. The trolley 100comprises a frame 110, a plurality of shelves 120, four swivellingwheels/castors 130, a handle 140, a multi-way power connector 150, adrawer 160 and two circular bin frames/holders 170.

As shown in the exploded view of FIG. 5, the frame 100 comprises aplurality of elongate frame sections/bars 111 that are connectedtogether by connectors 112 to form a structure in which a plurality ofrectangular sub-frames are mounted/stacked one above the other. Theframe 100 therefore has a generally box-shaped/rectangular cuboidstructure. Specifically, in this embodiment the frame 100 comprises aplurality of horizontal frame sections/bars 111 a that connect to formseven rectangular sub-frames, and vertical frame sections/bars 111 bthat are each connected between a corner of a rectangular sub-frame anda corresponding corner of another rectangular sub-frame that is disposedeither directly above or directly below the rectangular sub-frame. Thevertical frame sections 111 b therefore connect the rectangularsub-frames formed by the horizontal frame sections 111 a at each oftheir four corners so that they are separated vertically.

In this embodiment, there are three different types of connector 112used to construct the frame 100; eight three-way corner connectors 112a, twenty-four-way tee/elbow corner connectors 112 b, and four three-waytee connectors 112 c.

The eight three-way corner connectors 112 a form the corners of theframe 100. Each of these three-way corner connectors 112 a connecttogether two of the horizontal frame sections 111 a and one of thevertical frame sections 111 b such that each section is perpendicular tothe other sections. These three-way corner connectors 112 a thereforeform the corners the lowermost and uppermost rectangular sub-frames.

The twenty-four-way tee/elbow corner connectors 112 b each connecttogether two of the horizontal frame sections 111 a and two of thevertical frame sections 111 b such that the two horizontal framesections 111 a are perpendicular to one another, whilst the two thevertical frame sections 111 b are parallel to one another andperpendicular to both the horizontal frame sections 111 a. Thesefour-way tee/elbow corner connectors 112 b therefore form the corners ofthe interior/intermediate rectangular sub-frames.

Of the four three-way tee connectors 112 c, two are used in each of thelowermost and uppermost rectangular sub-frames and provide a means forconnecting a horizontal frame section 111 a across the middle of each ofthe lowermost and uppermost rectangular sub-frames thereby acting as astrut to improve the rigidity of the frame 110.

A swivelling wheel/castor 130 is mounted to the lower surface of theframe at each of the four corners of the lowest of the rectangularsub-frames formed by the horizontal frame sections 111 a. The handle 140is attached to an external side of one of the horizontal frame sections111 a that form the uppermost rectangular sub-frame. Attaching theswivelling wheels/castors 130 to the bottom of the frame 110 allows thetrolley to be easily moved in any direction, whilst the handle 140provides a convenient means by which a user of the trolley 100 can gripthe trolley 100 in order to push and/or pull the trolley 100 around onthe wheels 130.

Each of the shelves 120 comprise a sheet of material that is mountedonto the upper surface of each of the rectangular sub-frames formed bythe horizontal frame sections 111 a to thereby form a plurality ofshelves which are vertically spaced from each other by an amount G₂.

As shown in the exploded view of FIG. 5, the first and second shelves120 a, 120 b (i.e. the uppermost shelves) each comprise a sheet ofmaterial that is provided with a number of attachment points 121 aroundthe periphery of the shelf that allow the shelf to be fixed/attached tothe horizontal frame sections 111 a that form the rectangular sub-frameupon which the shelf is mounted. In the illustrated embodiment, theattachment points 121 are provided by screw holes that extend throughthe sheet of material that forms the shelf. However, these attachmentpoints 121 could equally be provided by any other suitable means ofattachment.

As shown in the FIGS. 6a, 6b and 7, the third and fourth shelves 120 c,120 d (i.e. the shelves immediately below the second shelf 120 b) eachcomprise a sheet of material formed with two sets of hollows 122, 123,with the first set of hollows 122 being provided on one half of thesheet and the second set of hollows 123 mirroring the first set 122 onthe opposite half of the sheet. In this specific embodiment, each set ofhollows 122, 123 comprises hollows that are respectively configured toreceive the fixed axis wheels 12 and the rotating brush/brushbar 14 of aconventional robotic vacuum cleaner (such as that illustrated in FIG.1). The third and fourth shelves 120 c, 120 d are therefore eachconfigured to receive and retain two separate robotic vacuum cleaners,one on each half of the shelf. In the illustrated embodiment, thehollows are provided by holes that extend through the sheet of materialthat forms the shelf. However, these hollows could equally be providedby suitably shaped recesses/depressions formed in the material.

As with the first and second shelves 120 a, 120 b, the third and fourthshelves 120 c, 120 d are also each provided with a number of attachmentpoints 123 around the periphery of the first shelf that allow the shelfto be fixed/attached to the horizontal frame sections 111 a that formthe rectangular sub-frame upon which the shelf is mounted.

The third and fourth shelves 120 c, 120 d are also each provided with acable routing hole 124 through which the power cables that connect toeach of the robotic vacuum cleaners can be routed. This cable routinghole 124 is located on the lateral axis of the shelf so as to beequidistant between two robotic vacuum cleaners that may be stored onthe shelf.

A number of cable guides 125 are also provided on the surface of boththe third and fourth shelves 120 c, 120 d. These cable guides 125 areconfigured to receive and retain the power cables that connect to eachof the robotic vacuum cleaners that may be stored on the shelf, therebyrouting the cables across the surface of the shelf towards the cablerouting hole 124. As illustrated by the dashed lines shown in FIG. 7b ,the cable guides 125 are arranged to route a cable that originates fromone side of a robotic vacuum cleaner that is stored on the shelf, alongthe adjacent periphery of the shelf to the lateral axis of shelf, atwhich point the cable guides 125 are arranged to route the cable alongthe lateral axis to the cable routing hole 124. In the illustratedembodiment, the cable guides 125 are provided by p-clips that areattached to the shelf. However, these cable guides 125 could equally beprovided by any other suitable means.

The fifth and sixth shelves 120 e, 120 f (i.e. the two shelvesimmediately below the fourth shelf 120 d) are essentially/substantiallythe same as the fifth and sixth shelves 120 e, 120 f, with the onlydifference being that the fifth and sixth shelves 120 e, 120 f do nothave the cable routing hole 124 but instead each have an aperture 126within which the multi-way power connector 150 can be located. For bothfifth and sixth shelves 120 e, 120 f, the aperture 126 is provided in acorresponding position adjacent to one longitudinal edge of the shelfand substantially aligned with the lateral axis of the shelf. Whenattached to the frame 100 the apertures 126 provided in both the fifthand sixth shelves 120 e, 120 f are aligned. The position of theapertures 126 ensures that the multi-way power connector 150 can extendthrough the apertures 126 without obstructing the robotic vacuumcleaners that may be stored on either fifth and sixth shelves 120 e, 120f.

The seventh shelf 120 g (i.e. the lowermost shelf) isessentially/substantially the same as both the third and fourth shelves120 c, 120 d, with the only difference being that seventh shelf 120 gdoes not require a cable routing hole 124.

Consequently, in the illustrated embodiment, the trolley 100 has fiveshelves (i.e. the third shelf 120 c, fourth shelf 120 d, fifth shelf 120e, sixth shelf 120 f and seventh shelf 120 g) that can each receive andretain two separate robotic vacuum cleaners. The trolley 100 cantherefore receive and retain a total of ten robotic vacuum cleaners.

The multi-way power connector 150 essentially comprises a conventionalmultiple socket power connector that is configured to be connected to aseparate, external power supply using a single power cable, and cantherefore be used with any conventional robotic appliance that can bestored on the trolley 100. This arrangement provides that the trolley100 can be used to store multiple robotic appliances that can all becharged simultaneously merely by connecting the multi-way powerconnector 150 to an external power supply using the connectors' ownpower cable.

As shown in FIG. 8, in the illustrated embodiment, the multi-way powerconnector 150 comprises an elongate power connector body 151 that isprovided with five sockets on a first side of the power connector body151 and five further sockets on a second, opposite side of the powerconnector body, such that the multi-way power connector 150 can beconnected to up to ten robotic vacuum cleaners simultaneously. It isnoted that in the figures the multi-way power connector 150 is shownwith plugs (P) located within each of the ten sockets.

As shown in FIG. 6c , the multi-way power connector 150 is attached tothe trolley 100 within the internal volume defined by the frame 100. Inthe illustrated embodiment, the multi-way power connector 150 isattached to the fifth and sixth shelves 120 e, 120 f so that themulti-way power connector 150 extends from the space between the sixthand seventh shelves 120 f, 120 g, through the apertures 126 provided inboth the fifth and sixth shelves 120 e, 120 f, and into the spacebetween the fifth and fourth shelves 120 e, 120 d. The longitudinal axisof the multi-way power connector 150 is therefore vertical when attachedto the trolley 100.

Consequently, for two robotic vacuum cleaners that may be located on theseventh shelf 120 g the power cables are routed along the surface of theshelf directly to the multi-way power connector 150. For two roboticvacuum cleaners that may be located on the sixth shelf 120 f the powercables are also routed along the surface of the shelf directly to themulti-way power connector 150. For two robotic vacuum cleaners that maybe located on the fifth shelf 120 e the power cables are routed alongthe surface of the shelf and through the apertures 126 to the multi-waypower connector 150. For two robotic vacuum cleaners that may be locatedon the fourth shelf 120 d the power cables are routed along the surfaceof the shelf and through the cable routing hole 124 to the multi-waypower connector 150. For two robotic vacuum cleaners that may be locatedon the third shelf 120 c the power cables are also routed along thesurface of the shelf and through the cable routing hole 124 to themulti-way power connector 150.

Preferably the trolley 100 further comprises cable trunking/cableconduits (not shown) that extends from the cable routing hole 124provided in the third shelf 120 c, through the trunking hole 124provided in the fourth shelf 120 d and through the apertures 126provided in the fifth and sixth shelves 120 e, 120 f. The power cablesassociated with robotic vacuum cleaners that are to be stored on thetrolley 100 can then be routed through the cable guides 125 on thecorresponding shelf into the cable trunking and then out of the cabletrunking to the appropriate socket located within the multi-way powerconnector 150.

The drawer 160 is inserted between first and second shelves 120 a, 120 band provides storage for other items. For example, the drawer 160 couldbe used to store other cleaning materials and/or to storeaccessories/spares for use with the robotic vacuum cleaners.

In the illustrated embodiments, two circular bin frames/holders 170 arealso attached to opposite sides of the trolley 100. Specifically, eachof the two circular bin frames/holders 170 are attached to the outsideof the frame 110 just below the second shelf 120 b and the drawer 160.Each of the circular bin frames/holders 170 can be used to hold a binbag/refuse sack. It should be noted that whilst the illustratedembodiment comprises two circular bin frames/holders 170 these areentirely optional. In addition, the trolley 100 could be used with justa single bin frames/holders, or could be used with two binframes/holders that are located on the same side of the trolley 100.

The multi-way power connector is located within the internal volumedefined by the frame of the trolley to ensure that it does not obstructthe movement of the trolley by the user. In addition, this also allowsfor all of the power cables to also be routed within the internal volumedefined by the frame of the trolley to ensure that these do not becomehazards or obstacles to the movement of the trolley or the generaloperation by the user, as well as ensuring the multi-way power connectoris located as close as possible to the robotic appliances stored on thetrolley. Furthermore, the vertical orientation of the multi-way powerconnector within the trolley, passing through apertures provided in theshelves, simplifies the routing of the power cables associated with eachof the robotic appliances stored on the trolley whilst also providingeasy access for the user to the multi-way power connector and each ofits sockets. This is particularly useful should the user wish to removeand/or replace any one of the power cables for any reason.

In a preferred embodiment, the multi-way power connector providesconnections/sockets for up to ten robotic appliances. Limiting thenumber of connections/sockets to no more than ten provides that all ofthe appliances connected to the multi-way power connector can be chargedsimultaneously without the need for complex power management systems, asthe total current rating and wattage of ten conventional appliancesshould not exceed the maximum load for conventional power supplysockets. Consequently, in this preferred embodiment it is alsopreferable that the trolley is configured to provide storage for up toten robotic appliances. This not only ensures that all of the storedappliances can be charged simultaneously using a single multi-way powerconnector but also ensures that the total weight of the fully loadedtrolley does not place excessive strength requirements on theconstruction of the trolley and does not make maneuvering the trolleydifficult for the user.

Reference is now made in particular to FIGS. 9 and 10 which are sideelevations of a robotic device on the ground and when stacked in thetrolley. From FIG. 9 and from FIGS. 1a and 1b , it will be seen that thelower surface 11 a of the robotic device 10 is provided with one or moreproximity sensors 16 which may be circumferentially spaced around theouter diameter thereof. These sensors 16 may comprise optical sensorsbut may also comprise radar or LIDAR sensors if the costs justify thisselection. The sensors are provided such as to allow for the detectionof a surface below the device 10 as the detection of such a surface isimportant to the safe operation of the device 10. in essence, thesensors 16 are used to detect when the device 10 is about to move offthe surface it is presently travelling along and, potentially, drop offan edge thereof and onto a lower surface. Such an edge may be a step ora significant change of height the magnitude of which may be sufficientto damage or immobilise the device 10 which is, clearly, undesirable.These sensors are set to have an operable range so as to be able todetect a surface within a defined distance equal to or just slightlygreater than the distance G₁ between the bottom surface 11 a and theground when the device is on normal operation and running on its wheelsand are used to allow continuity of the power supply to the motors whichdrive the wheels 12, 13 so as to ensure continuity of cleaning. However,when the device 10 moves over a drop, such as a step, the sensors 16 areunable to detect a surface within their set distance and are operable tocause the steering of the device 10 away from the detected stop. Whilstthis is a perfectly acceptable way of operating the device 10 in normaloperation, it presents some problems when the devices 10 are stored on aconventional shelving device as the shelf is, in effect, a surface whichthe sensors 16 detect and this can cause the devices 10 to assume theyare still in an operational environment and activate which consumesenergy and activate audible warnings or the like and may cause thedevices 10 to drive themselves off the shelf. The present inventionsolves this problem in two ways. Firstly, the shelves 120 are eachprovided with one or more regions 200 of optical transparency atpositions aligned with said one or more proximity sensors 16 such thatthe sensor effectively cannot see the shelf 120 such that the device 10assumes that it is over a free space which will cause the power to thedrive motors to be cut-off. The optical transparency may be provided byproviding apertures 2002 within the shelf 120. Alternatively, theoptical transparency may be provided by using an optically transparentmaterial in said regions 200.

In addition to the above the present invention also arranges the shelves120 in spaced apart relationship such that a gap G2 will exist betweenthe bottom of one device 10 and the top of another device 10 when theyare placed on respective shelves 120. This gap G2 is selected to begreater than the operable proximity detection distance G₁ used by thesensors 16 to maintain power to the motor of the device. In such anarrangement the sensors are each unable to detect an acceptableoperational surface below the device 10 and cause the power to beterminated. In essence, the gap G₂ is selected to be greater than thetotal height H1 of the robotic device 10 such as to preserve a gap G₃between the bottom of the wheels 12, 13 of a device 10 and the topsurface 11 b of a device 10 placed therebelow. Any gap G3 would allowfor the ineffective rotation of the wheels 12, 13 in the event that theyare, through some external influence on the device 10 caused to go backinto operational mode. Such external influence may include the insertionof an object or hand into the gap between shelves.

The present invention also provides for the positioning of the hollowsto receive the wheels 12 of the device and cause a portion of the device10 to overhang the outer edge of the trolley. Such an arrangement wouldcause the sensors 16 associated with the portion of the device over theedge to, effectively, detect themselves as being in free space and thismay be used to prevent the supply of electricity to the motor of thedevice in addition or separately to the above arrangements.

The provision of the cable guides, cable routing holes and aperturesenable the power cables of any conventional robotic appliance that canbe stored on the shelf can easily be inserted into these routing meansby the user so that the cables are also stored in a tidy and safe mannerand in a way that allows the straightforward connection of a roboticappliance to a power cables when stored on a shelf.

In addition, the simple construction of the trolley, using a frame andshelves comprising sheets of material mounted to the frame, providesthat the shelves can easily be interchanged if the trolley is requiredto store robotic appliances of a different configuration, and thattherefore require different sizes and configurations of hollows toreceive and retain the wheels etc. of a robotic appliance. This combinedwith the use of a conventional multi-way power connector allows thetrolley to be used with almost any robotic appliance, and even allowsthe trolley to be used with a mix of different robotic appliances. Forexample, a subset of the shelves could be configured to store roboticfloor mops whilst a further subset of the shelves could be configured tostore robotic vacuum cleaners.

It will be appreciated that individual items described above may be usedon their own or in combination with other items shown in the drawings ordescribed in the description and that items mentioned in the samepassage as each other or the same drawing as each other need not be usedin combination with each other. In addition, the expression “means” maybe replaced by actuator or system or device as may be desirable. Inaddition, any reference to “comprising” or “consisting” is not intendedto be limiting in any way whatsoever and the reader should interpret thedescription and claims accordingly.

Furthermore, although the invention has been described in terms ofpreferred embodiments as set forth above, it should be understood thatthese embodiments are illustrative only. Those skilled in the art willbe able to make modifications and alternatives in view of the disclosurewhich are contemplated as falling within the scope of the appendedclaims. In particular, whilst the above described examples have beendescribed with respect to a trolley that is suitable for the storage,transport and charging of a plurality of robotic vacuum cleaners, thetrolley described herein could equally be used with other mobile roboticfloorcare appliances, such as robotic floor mops etc., or any otherforms of mobile robotic appliances/devices such as robotic lawn mowersetc. The only modification that would be required in order toaccommodate alternative forms of mobile robotic appliances onto thetrolley would be to change the sizes and/or configuration of the hollowsprovided in the shelves so that they are suitable to receive and retainthe wheels etc. of the robotic appliance that is to be stored.

1. A trolley for storing, transporting and charging of a plurality ofrobotic appliances having a top surface, a total height H and a lowersurface, said lower surface having one or more wheels and one or moreposition sensors on said lower surface, the trolley comprising: a framehaving an outer edge and defining an internal volume and supporting aplurality of shelves positioned one on top of the other and spaced by anamount G₂; wherein each of the plurality of shelves is configured toreceive and retain one or more robotic appliances in a preferredposition thereon; and wherein each shelf includes one or more regions ofoptical transparency at positions aligned with said one or moreproximity sensors on said robotic appliance when placed therein.
 2. Thetrolley as claimed in claim 1, wherein said one or more regions ofoptical transparency comprise apertures within said shelf.
 3. Thetrolley as claimed in claim 1, wherein said one or more regions ofoptical transparency comprise regions of optically transparent material.4. The trolley as claimed in claim 1, wherein one or more of said one ormore shelves comprise optically transparent material.
 5. The trolley ofclaim 1, wherein the shelves are arranged to retain one or more roboticappliances at least partially within the internal volume defined by theframe.
 6. The trolley of claim 1, wherein each shelf comprises a sheetof material mounted to the frame, the sheet of material being providedwith hollows that are configured to receive and retain one or morewheels that project from a lower surface of a robotic appliance.
 7. Thetrolley of claim 6, wherein the sheet of material is provided withfurther hollows that are configured to receive and retain other featuresthat project from the lower surface of a robotic appliance.
 8. Thetrolley of claim 1, wherein each shelf comprises a plurality of sets ofhollows, with each set comprising hollows that are configured to receiveand retain one or more wheels that project from a lower surface of arobotic appliance.
 9. The trolley of claim 8, wherein said hollows arepositioned to receive the wheels of a robotic appliance in only onepre-defined orientation thereof when placed within said trolley.
 10. Thetrolley of claim 9, and including further hollows that are configured toreceive and retain other features that project from the lower surface ofa robotic appliance.
 11. The trolley of claim 1, wherein each shelf isarranged to retain two or more robotic appliances within the internalvolume defined by the frame and each shelf comprises two separate setsof hollows, with a first set being provided on a first half of the sheetand a second set being provided on an opposite half of the sheet. 12.The trolley of claim 1, wherein each of the hollows is provided by anyof: a hole formed in the material; and a recess or indent provided inthe material.
 13. The trolley of claim 1, wherein the multi-way powerconnector is attached to the trolley within the internal volume definedby the frame.
 14. The trolley of claim 1, wherein one or more of theplurality of shelves is provided with an aperture within which themulti-way power connector can be located.
 15. The trolley of claim 1,wherein the frame comprises a plurality of elongate frame sections thatare connected together by connectors to form a structure in which aplurality of rectangular sub-frames are mounted one above the other. 16.The trolley of claim 11, wherein each shelf comprises a sheet ofmaterial that is mounted onto the upper surface one of the rectangularsub-frames formed by the horizontal frame sections.
 17. The trolley ofclaim 1, wherein the guides for routing a power cable comprise aplurality of cable retaining guides provided on the surface of a shelf.18. The trolley of claim 17, wherein the cable retaining guides eachcomprise any of a clip and a clamp that are configured to receive andretain a cable or cable conduit.
 19. The trolley of claim 17, whereinthe guides for routing a power cable comprise a hole or aperture througha shelf.
 20. The trolley of claim 1, and including a multi-way powerconnector and wherein the multi-way power connector comprises multiplesockets that are each configured to receive an electrical plug and asingle power cable configured to connect the multi-way power connectorto a power supply.
 21. The trolley of claim 1, and including a multi-waypower connector and wherein the multi-way power connector comprises anelongate power connector body that is provided with multiple sockets.22. The trolley of claim 20, wherein the power connector body isprovided with a first set of sockets on a first side of the powerconnector body and a second set of sockets on a second, opposite side ofthe power connector body.
 23. The trolley of claim 20, wherein themulti-way power connector is provided with ten sockets.
 24. The trolleyof claim 1, wherein the multi-way power connector is attached to thetrolley such that the longitudinal axis of the multi-way power connectoris vertical.
 25. The trolley of claim 1, wherein the trolley comprisesfive shelves that can each receive and retain two separate roboticappliances.
 26. The trolley of claim 1, wherein the trolley furthercomprises a drawer or storage compartment that is inserted into theframe and supported by one of the one or more further shelves.
 27. Thetrolley according to claim 1, and wherein distance G2 is greater thanthe operable distance of the optical sensor on a robotic device to beplaced thereon.
 28. The trolley according to claim 1, and wherein saidshelves are spaced apart from each other by an amount G2 which isgreater than the total height H1 of the robotic device such as topreserve a gap G3 between the bottom of any wheels and the top of anyrobotic device placed on a shelf therebelow.
 29. The trolley accordingto claim 7, and wherein said hollows are positioned to receive wheels ofa robotic device whilst also causing a portion of the robotic device tooverhang the outer edge of the trolley.
 30. A system of roboticappliances comprising: a trolley as claimed in claim 1; and a pluralityof robotic appliances disposed and retained on the shelves of thetrolley, each robotic appliance being connected to a power cable that isrouted to the multi-way power connector that is attached to the trolley.